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Merge branch 'master' into shape_matching_integration

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Joachim
2020-05-07 13:31:22 +02:00
parent a969d86084 9ee83deb2c
commit 33d697743e
7 changed files with 216 additions and 159 deletions
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53
esp32/doc/build_configurations.md Normal file
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@ -0,0 +1,53 @@
# Build configurations
This doc details some build configurations possible.
Images codecs support
----------------------------
To add/remove image codecs support, the following modifications are done.
### PNG
- Remove ``-DWITH_PNG=OFF`` and add ``-DBUILD_PNG=ON`` and ``-DBUILD_ZLIB=ON`` from the cmake command
- The lib ``opencv_imgcodecs.a`` build pass
The library is compiled in the ``3rdparty/`` folder. Copy this folder into the esp32 example project folder.
### JPEG
- Remove ``-DWITH_JPEG=OFF`` and add ``-DBUILD_JPEG=ON`` of the cmake command
- Problem at compilation time. Doesn't support JPEG for now (TODO).
## Additional OpenCV modules
In addition to the `core`, `imgproc` and `imgcodecs` modules, the following were also tested:
* `features2d`: The cross-compilation didn't cause issues. The following functionalities were used:
* AKAZE features detector/descriptor
* Matching method
* `calib3d`: The cross-compilation didn't cause issues. The following functionalities were used:
* undistortPoints method
* findHomography method
* projectPoints method
These methods use `double` precision operations. Because the ESP32 only have a single precision Floating Point Unit (FPU), the operations are very slow. (TODO: have modified the methods to use only `float`, but must now add them to this repo).
Parallel support
-----------------------
TODO

64
esp32/doc/detailed_build_procedure.md
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@ -1,6 +1,6 @@
# Detailed build procedure
The last way explains all the commands and modifications done to be able to compile and run OpenCV on the ESP32.
This doc details all the commands and modifications done to be able to compile and run OpenCV on the ESP32.
@ -176,61 +176,6 @@ When the compilation has ended, the libs are in the `build/lib` folder.
## Compiling esp-idf project using OpenCV:
When the OpenCV library is cross-compiled, we have in result `*.a` files located in `build/lib` folder. We now want to try to compile an example project using OpenCV on the esp32. A basic example of esp-idf project can be found in [esp32/examples/esp_opencv_basic](esp32/examples/esp_opencv_basic). This project simply creates an OpenCV matrix, fill it with values and prints it on the console.
Esp-idf environment uses cmake and is separated in components. Because OpenCV libs were compiled outside this example project, we use the pre-built library functionality of esp-idf (https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html#using-prebuilt-libraries-with-components).
Here are the things done to add the OpenCV library to the project:
* Create a folder named `opencv/` into the `main/` component's folder
* Copy the generated libraries (`libade.a`, `libopencv_core.a`, `libopencv_imgproc.a` and `libopencv_imgcodecs.a`) into this directory
* Create the folder `opencv2/` into this directory, and copy into it the needed headers files :
* `cvconfig.h`
* `opencv_modules.hpp`
* `opencv.hpp`
* `core.hpp`
* `imgproc.hpp`
* `imgcodecs.hpp`
* `core/` folder
* `imgproc/` folder
* `imgcodecs/` folder
* Link the libraries to the project by modifying the `CMakeList.txt` of the `main` project's component is as below :
```cmake
idf_component_register(
SRC main.cpp
INCLUDE_DIRS ./opencv
)
# Be aware that the order of the librairies is important
add_prebuilt_library(opencv_imgcodecs "opencv/libopencv_imgcodecs.a")
add_prebuilt_library(libpng "opencv/3rdparty/liblibpng.a")
add_prebuilt_library(libzlib "opencv/3rdparty/libzlib.a")
add_prebuilt_library(opencv_imgproc "opencv/libopencv_imgproc.a")
add_prebuilt_library(opencv_core "opencv/libopencv_core.a")
add_prebuilt_library(ade "opencv/libade.a")
target_link_libraries(${COMPONENT_LIB} PRIVATE opencv_imgcodecs)
target_link_libraries(${COMPONENT_LIB} PRIVATE libpng)
target_link_libraries(${COMPONENT_LIB} PRIVATE libzlib)
target_link_libraries(${COMPONENT_LIB} PRIVATE opencv_imgproc)
target_link_libraries(${COMPONENT_LIB} PRIVATE opencv_core)
target_link_libraries(${COMPONENT_LIB} PRIVATE ade)
```
* Finally, include the OpenCV headers needed into your source files:
```c++
#include "opencv2/core.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
```
## Modified files for OpenCV to compile and run:
To get the cmake configuration and make compilation to work, some modifications on OpenCV files had to be done. They are listed below.
@ -418,3 +363,10 @@ When the `make` command compiles successfully, the library was tested with an ex
* Disabling the Bluetooth (~56kB) and Trace Memory in the menuconfig
* Disabling some OpenCV features not mandatory and taking lot of memory. To find variables taking too much space, the `build/<project-name>.map` file is useful (looking for big variables under the `.dram0.bss` section).
* `imgproc/color_lab.cpp` has variables (trilinearLUTE, InvGammaTab and LabCbrtTab) taking ~88 kB. They are used for colorspace conversions in and from CIE LAB and XYZ images. These functions were removed.
* TODO: There are maybe other ways to save space in this segment:
* Allow .bss segment placed in external memory
* This option of the menuconfig uses external RAM to store zero-initialized data from the lwIP, net80211, libpp and bluedroid libraries
* Additional data can be moved from the internal BSS segment to external RAM by applying the macro `EXT_RAM_ATTR` to any static declaration (which is not initialized to a non-zero value).
* TODO: See what needs to be included and if it's possible to use this esp macro in OpenCV

28
esp32/examples/esp_opencv_basic/main/CMakeLists.txt
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@ -1,8 +1,12 @@
set(COMPONENT_SRCS "hello_opencv.cpp")
set(COMPONENT_ADD_INCLUDEDIRS "." "./opencv/")
register_component()
# Be aware that the order of the librairies is important
idf_component_register(
SRCS
hello_opencv.cpp
INCLUDE_DIRS
.
opencv/
)
add_prebuilt_library(opencv_imgcodecs "opencv/libopencv_imgcodecs.a")
add_prebuilt_library(libpng "opencv/3rdparty/liblibpng.a")
add_prebuilt_library(libzlib "opencv/3rdparty/libzlib.a")
@ -10,9 +14,11 @@ add_prebuilt_library(opencv_imgproc "opencv/libopencv_imgproc.a")
add_prebuilt_library(opencv_core "opencv/libopencv_core.a")
add_prebuilt_library(ade "opencv/libade.a")
target_link_libraries(${COMPONENT_LIB} PRIVATE opencv_imgcodecs)
target_link_libraries(${COMPONENT_LIB} PRIVATE libpng)
target_link_libraries(${COMPONENT_LIB} PRIVATE libzlib)
target_link_libraries(${COMPONENT_LIB} PRIVATE opencv_imgproc)
target_link_libraries(${COMPONENT_LIB} PRIVATE opencv_core)
target_link_libraries(${COMPONENT_LIB} PRIVATE ade)
set(IMGCODEC_DEP libpng libzlib)
target_link_libraries(opencv_imgcodecs INTERFACE ${IMGCODEC_DEP})
set(CORE_DEP libzlib)
target_link_libraries(opencv_core INTERFACE ${CORE_DEP})
set(OPENCV_DEP opencv_imgcodecs opencv_imgproc opencv_core)
target_link_libraries(${COMPONENT_LIB} ${OPENCV_DEP})

14
esp32/examples/esp_opencv_tests/main/CMakeLists.txt
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@ -16,12 +16,14 @@ add_prebuilt_library(opencv_imgproc "opencv/libopencv_imgproc.a")
add_prebuilt_library(opencv_core "opencv/libopencv_core.a")
add_prebuilt_library(ade "opencv/libade.a")
target_link_libraries(${COMPONENT_LIB} PRIVATE opencv_imgcodecs)
target_link_libraries(${COMPONENT_LIB} PRIVATE libpng)
target_link_libraries(${COMPONENT_LIB} PRIVATE libzlib)
target_link_libraries(${COMPONENT_LIB} PRIVATE opencv_imgproc)
target_link_libraries(${COMPONENT_LIB} PRIVATE opencv_core)
target_link_libraries(${COMPONENT_LIB} PRIVATE ade)
set(IMGCODEC_DEP libpng libzlib)
target_link_libraries(opencv_imgcodecs INTERFACE ${IMGCODEC_DEP})
set(CORE_DEP libzlib)
target_link_libraries(opencv_core INTERFACE ${CORE_DEP})
set(OPENCV_DEP opencv_imgcodecs opencv_imgproc opencv_core)
target_link_libraries(${COMPONENT_LIB} ${OPENCV_DEP})
# create spiffs partition (named 'storage') from the ../spiffs_image directory
spiffs_create_partition_image(storage ../spiffs_images FLASH_IN_PROJECT)

23
esp32/examples/esp_opencv_tests/sdkconfig
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@ -47,6 +47,7 @@ CONFIG_BOOTLOADER_LOG_LEVEL_INFO=y
# CONFIG_BOOTLOADER_LOG_LEVEL_DEBUG is not set
# CONFIG_BOOTLOADER_LOG_LEVEL_VERBOSE is not set
CONFIG_BOOTLOADER_LOG_LEVEL=3
CONFIG_BOOTLOADER_SPI_WP_PIN=7
CONFIG_BOOTLOADER_VDDSDIO_BOOST_1_9V=y
# CONFIG_BOOTLOADER_FACTORY_RESET is not set
# CONFIG_BOOTLOADER_APP_TEST is not set
@ -71,9 +72,9 @@ CONFIG_BOOTLOADER_RESERVE_RTC_SIZE=0
# Serial flasher config
#
CONFIG_ESPTOOLPY_BAUD_OTHER_VAL=115200
# CONFIG_ESPTOOLPY_FLASHMODE_QIO is not set
CONFIG_ESPTOOLPY_FLASHMODE_QIO=y
# CONFIG_ESPTOOLPY_FLASHMODE_QOUT is not set
CONFIG_ESPTOOLPY_FLASHMODE_DIO=y
# CONFIG_ESPTOOLPY_FLASHMODE_DIO is not set
# CONFIG_ESPTOOLPY_FLASHMODE_DOUT is not set
CONFIG_ESPTOOLPY_FLASHMODE="dio"
CONFIG_ESPTOOLPY_FLASHFREQ_80M=y
@ -187,7 +188,7 @@ CONFIG_ADC_DISABLE_DAC=y
#
# SPI configuration
#
# CONFIG_SPI_MASTER_IN_IRAM is not set
CONFIG_SPI_MASTER_IN_IRAM=y
CONFIG_SPI_MASTER_ISR_IN_IRAM=y
# CONFIG_SPI_SLAVE_IN_IRAM is not set
CONFIG_SPI_SLAVE_ISR_IN_IRAM=y
@ -251,15 +252,14 @@ CONFIG_SPIRAM_SIZE=-1
CONFIG_SPIRAM_SPEED_80M=y
CONFIG_SPIRAM=y
CONFIG_SPIRAM_BOOT_INIT=y
# CONFIG_SPIRAM_IGNORE_NOTFOUND is not set
# CONFIG_SPIRAM_USE_MEMMAP is not set
# CONFIG_SPIRAM_USE_CAPS_ALLOC is not set
CONFIG_SPIRAM_USE_MALLOC=y
CONFIG_SPIRAM_MEMTEST=y
CONFIG_SPIRAM_MALLOC_ALWAYSINTERNAL=16384
# CONFIG_SPIRAM_TRY_ALLOCATE_WIFI_LWIP is not set
CONFIG_SPIRAM_TRY_ALLOCATE_WIFI_LWIP=y
CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL=32768
# CONFIG_SPIRAM_ALLOW_BSS_SEG_EXTERNAL_MEMORY is not set
CONFIG_SPIRAM_ALLOW_BSS_SEG_EXTERNAL_MEMORY=y
CONFIG_SPIRAM_CACHE_WORKAROUND=y
CONFIG_SPIRAM_BANKSWITCH_ENABLE=y
CONFIG_SPIRAM_BANKSWITCH_RESERVE=8
@ -287,8 +287,6 @@ CONFIG_D2WD_PSRAM_CS_IO=10
#
CONFIG_PICO_PSRAM_CS_IO=10
# end of PSRAM clock and cs IO for ESP32-PICO
CONFIG_SPIRAM_SPIWP_SD3_PIN=7
# end of SPI RAM config
# CONFIG_ESP32_TRAX is not set
@ -467,7 +465,7 @@ CONFIG_ESP32_WIFI_STATIC_TX_BUFFER_NUM=16
CONFIG_ESP32_WIFI_AMPDU_TX_ENABLED=y
CONFIG_ESP32_WIFI_TX_BA_WIN=6
CONFIG_ESP32_WIFI_AMPDU_RX_ENABLED=y
CONFIG_ESP32_WIFI_RX_BA_WIN=6
CONFIG_ESP32_WIFI_RX_BA_WIN=16
CONFIG_ESP32_WIFI_NVS_ENABLED=y
CONFIG_ESP32_WIFI_TASK_PINNED_TO_CORE_0=y
# CONFIG_ESP32_WIFI_TASK_PINNED_TO_CORE_1 is not set
@ -685,6 +683,7 @@ CONFIG_LWIP_TCP_QUEUE_OOSEQ=y
CONFIG_LWIP_TCP_OVERSIZE_MSS=y
# CONFIG_LWIP_TCP_OVERSIZE_QUARTER_MSS is not set
# CONFIG_LWIP_TCP_OVERSIZE_DISABLE is not set
# CONFIG_LWIP_WND_SCALE is not set
# end of TCP
#
@ -1025,9 +1024,9 @@ CONFIG_LOG_BOOTLOADER_LEVEL_INFO=y
CONFIG_LOG_BOOTLOADER_LEVEL=3
# CONFIG_APP_ROLLBACK_ENABLE is not set
# CONFIG_FLASH_ENCRYPTION_ENABLED is not set
# CONFIG_FLASHMODE_QIO is not set
CONFIG_FLASHMODE_QIO=y
# CONFIG_FLASHMODE_QOUT is not set
CONFIG_FLASHMODE_DIO=y
# CONFIG_FLASHMODE_DIO is not set
# CONFIG_FLASHMODE_DOUT is not set
# CONFIG_MONITOR_BAUD_9600B is not set
# CONFIG_MONITOR_BAUD_57600B is not set
@ -1061,7 +1060,7 @@ CONFIG_BTDM_CONTROLLER_BR_EDR_MAX_SYNC_CONN_EFF=0
CONFIG_BTDM_CONTROLLER_PINNED_TO_CORE=0
CONFIG_ADC2_DISABLE_DAC=y
CONFIG_SPIRAM_SUPPORT=y
# CONFIG_WIFI_LWIP_ALLOCATION_FROM_SPIRAM_FIRST is not set
CONFIG_WIFI_LWIP_ALLOCATION_FROM_SPIRAM_FIRST=y
CONFIG_TRACEMEM_RESERVE_DRAM=0x0
# CONFIG_TWO_UNIVERSAL_MAC_ADDRESS is not set
CONFIG_FOUR_UNIVERSAL_MAC_ADDRESS=y

6
esp32/examples/esp_opencv_tests/sdkconfig.old
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@ -84,9 +84,9 @@ CONFIG_ESPTOOLPY_FLASHFREQ="80m"
# CONFIG_ESPTOOLPY_FLASHSIZE_1MB is not set
# CONFIG_ESPTOOLPY_FLASHSIZE_2MB is not set
# CONFIG_ESPTOOLPY_FLASHSIZE_4MB is not set
CONFIG_ESPTOOLPY_FLASHSIZE_8MB=y
# CONFIG_ESPTOOLPY_FLASHSIZE_16MB is not set
CONFIG_ESPTOOLPY_FLASHSIZE="8MB"
# CONFIG_ESPTOOLPY_FLASHSIZE_8MB is not set
CONFIG_ESPTOOLPY_FLASHSIZE_16MB=y
CONFIG_ESPTOOLPY_FLASHSIZE="16MB"
CONFIG_ESPTOOLPY_FLASHSIZE_DETECT=y
CONFIG_ESPTOOLPY_BEFORE_RESET=y
# CONFIG_ESPTOOLPY_BEFORE_NORESET is not set